Anti-falling mechanism and photovoltaic panel cleaning equipment having same

ABSTRACT

An anti-falling mechanism, configured and adapted on a photovoltaic panel cleaning equipment for cleaning photovoltaic panels, is provided. The photovoltaic panel cleaning equipment includes a body and a cleaning rack, in which the anti-falling mechanism is being mounted on. The cleaning rack includes several connecting rods which are detachably connected. The anti-falling mechanism includes a first hook and a second hook, each of the first hook and the second hook comprises a fixed part and an anti-falling part, the fixed part is fixedly connected with the anti-falling part and the fixed part is detachably mounted on the first connecting rod. By adopting the anti-falling mechanism, the body of the photovoltaic panel cleaning equipment can be prevented from falling off from the photovoltaic panels during cleaning process of the photovoltaic panels.

FIELD OF THE INVENTION

The present invention relates to the technical field of solar powergeneration, and in particular to an anti-falling mechanism adapted foruse on a photovoltaic panel cleaning equipment for cleaning photovoltaicpanels.

BACKGROUND OF THE INVENTION

With the comprehensive development of global industrialization, demandsof all industries in all countries for energy increase sharply, and theamount of energy demands has already been a standard for measuring thesituation of economic development of a country or a region. Renewableenergy mainly includes hydraulic energy, solar energy, wind energy,geothermal energy, biomass energy, etc., and the most important featurethereof is that it has a self-restoring capacity, renewable energy canbe continuously replenished from the nature in a use process by people,and it is energy which is inexhaustible and will never be used up. Asstudied and proved by scholars, people commonly consider that solarenergy and wind energy are of the most effective and feasible energytype which can solve energy crisis and environmental pollution and areof the most important energy type in a new century. Especially, solarenergy is increasingly concerned about by people due to its uniqueadvantages since solar energy is inexhaustible, will never be used upand is renewable; the application areas of solar energy are wide; solarenergy is clean and pollution-free; and a solar power generator has nomoving part, is not easily damaged and is simple to maintain.

All countries start to invest a great amount of capitals to constructsolar photovoltaic power plants, solar photovoltaic panels arefoundations for generation of electric energy in photovoltaic powerplants, the power generation efficiency of the photovoltaic panelsdirectly decides the power generation capacity of the solar powerplants, and whether the surfaces of the photovoltaic panels are cleanhave a very great influence on the power generation capacity of thesolar power plants. With the construction of more and more solarphotovoltaic power plants, the number of photovoltaic panels which needto be cleaned increases sharply, and how to rapidly clean thephotovoltaic panels and simultaneously guarantee the cleaning effect hasalready been a problem which needs to be urgently solved by photovoltaicpower generation enterprises. The existing conventional photovoltaicpanel cleaning equipment tend to easily fall out inadvertently oraccidentally during movement on the photovoltaic panels, while cleaningthe panels thereof.

In view of the above-mentioned defects or problems, the inventor of thepresent invention finally obtains the present invention after long-timestudy and practice.

SUMMARY OF THE INVENTION

For solving the above problems, an object of the present invention is toprovide an anti-falling mechanism adapted and configured for aphotovoltaic panel cleaning equipment, which is then adapted forcleaning one or more photovoltaic panels.

The technical scheme adopted by the present invention lies in that ananti-falling mechanism is provided in accordance with an embodiment ofpresent invention, in which the anti-falling mechanism is mounted on acleaning rack of a photovoltaic panel cleaning equipment. The cleaningrack includes a first connecting rod, a second connecting rod, a thirdconnecting rod and a fourth connecting rod which are detachablyconnected. The anti-falling mechanism includes a first hook and a secondhook, each of the first hook and the second hook comprises a fixed partand an anti-falling part, the fixed part is fixedly connected with theanti-falling part and the fixed part is detachably mounted on the firstconnecting rod of the cleaning rack.

Preferably, the fixed part is fixedly and vertically connected with theanti-falling part, i.e., the first hook is an L-shaped hook. Preferably,a plurality of mounting through holes are arranged in the fixed part.Preferably, the sliding grooves are arranged in four side surfaces ofeach connecting rod of the first connecting rod, the second connectingrod, the third connecting rod and the fourth connecting rod. Preferably,a plurality of hollow through holes which run through the entireconnecting rod are arranged in each connecting rod of the firstconnecting rod, the second connecting rod, the third connecting rod andthe fourth connecting rod. Preferably, the number of the hollow throughholes is five.

The present invention is also to provide a photovoltaic panel cleaningequipment according to embodiment of present invention, comprising abody. The body of the photovoltaic panel cleaning equipment comprisesthe anti-falling mechanism.

Preferably, the photovoltaic panel cleaning equipment according toembodiment of present invention further comprises an obstacle crossingmechanism, the body further comprises a telescopic mechanism and thetelescopic mechanism cooperates with the obstacle crossing mechanism torealize the movement of the body from one photovoltaic panel array toanother photovoltaic panel array; and the obstacle crossing mechanismcomprises a moving rack and a fixed rack, a locking device is arrangedon the fixed rack, a limiting member is arranged on the moving rack andthe locking device cooperates with the limiting member to lock themoving rack on the fixed rack.

As compared with the prior art, the anti-falling mechanism and thephotovoltaic panel cleaning equipment having the anti-falling mechanismprovided by the present invention offers beneficial effect whichincludes of the body of the photovoltaic panel cleaning equipment thatcan be prevented from falling off from the photovoltaic panels duringcleaning process of the photovoltaic panels.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates a functional diagram of a photovoltaic panel cleaningequipment provided in accordance with an embodiment of the presentinvention.

FIG. 2 illustrates a structural schematic view of a cleaning rack.

FIG. 3 illustrates a structural schematic view of a single connectingrod of the cleaning rack.

FIG. 4 illustrates a structural schematic view of a cleaning mechanism.

FIG. 5 illustrates a structural schematic view of a strip brush.

FIGS. 6A and 6B illustrate a plurality of structural schematic views ofa water spray device.

FIG. 7 illustrates a structural schematic view of a moving mechanism.

FIG. 8 illustrates a structural schematic view of a self-lockingmechanism mounted on the moving mechanism.

FIG. 9 illustrates a structural schematic view of a correction mechanismmounted on the cleaning rack.

FIG. 10 illustrates a schematic view of an included angle between acorrection guide wheel and a driving wheel.

FIG. 11 illustrates a structural schematic view of an anti-fallingmechanism mounted on the cleaning rack.

FIG. 12 illustrates a structural schematic view of another anti-fallingmechanism mounted on the cleaning rack.

FIG. 13 illustrates a structural schematic view of a dynamic temperaturemeasuring mechanism mounted on the cleaning rack.

FIG. 14 illustrates a stereoscopic view of a charging connector.

FIG. 15 illustrates a side view of a charging connector.

FIG. 16 illustrates a structural schematic view of a chargingcompartment.

FIG. 17 illustrates a structural exploded schematic view of aself-charging terminal.

FIG. 18 illustrates a functional diagram of an another photovoltaicpanel cleaning equipment in accordance with another embodiment providedby the present invention.

FIG. 19 illustrates a structural schematic view of a telescopicmechanism mounted on the cleaning rack.

FIG. 20 illustrates a structural schematic view of an obstacle crossingmechanism.

FIG. 21 illustrates a partially enlarged view of the obstacle crossingmechanism.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

The above-mentioned and other technical features and advantages of thepresent invention will be further described below in detail withreference to the drawings:

Preferred Embodiment 1

As illustrated in FIG. 1 which illustrates a functional diagram of aphotovoltaic panel cleaning equipment disclosed in accordance with anembodiment of the present invention, the photovoltaic panel cleaningequipment comprises a body, a charging compartment 11 and an externalterminal 12. The body of the photovoltaic panel cleaning equipmentcomprises a cleaning rack 1, a central controller 2, a cleaningmechanism 3, a moving mechanism 4, a self-locking mechanism 5, acorrection mechanism 6, an anti-falling mechanism 7, a dynamictemperature measuring mechanism 8, a power supply module 9 and acommunication module 10, wherein the central controller 2, the cleaningmechanism 3, the moving mechanism 4, the self-locking mechanism 5, thecorrection mechanism 6, the anti-falling mechanism 7, the dynamictemperature measuring mechanism 8, the power supply module 9 and thecommunication module 10 are arranged on the cleaning rack 1. Thecleaning mechanism 3 is connected with the central controller 2 and isused for cleaning a photovoltaic panel. The moving mechanism 4 isconnected with the central controller 2 and is used for enabling thebody to stably move on the photovoltaic panel. The self-lockingmechanism 5 cooperates with the moving mechanism 4 and is used forenabling the body to be capable of moving at constant speed duringmovement on the photovoltaic panel and instantaneously becomingimmobilized during stopping. The correction mechanism 6 is used forcorrecting the body when the body is inclined and then enabling the bodyto stably move on the photovoltaic panel again. The anti-fallingmechanism 7 is used for preventing the body from falling off from thephotovoltaic panel. The dynamic temperature measuring mechanism 8 isconnected with the central controller 2 and is used for dynamicallymeasuring temperature of the photovoltaic panel cleaned by the body. Thecharging compartment 11 is used for charging and stopping the body. Thepower supply module 9 is connected with all electrical parts in the bodyand is used for supplying power to all the electrical parts. Thecommunication module 10 is connected with the central controller 2 andis used for realizing data interaction between the external terminal 12and the central controller 2. The external terminal 12 is used forrealizing remote control of the body.

As illustrated in FIG. 2 which illustrates a structural schematic viewof the cleaning rack and FIG. 3 which illustrates a structural schematicview of a single connecting rod of the cleaning rack. The cleaning rack1 comprises a first connecting rod 101, a second connecting rod 102, athird connecting rod 103 and a fourth connecting rod 104. The firstconnecting rod 101, the second connecting rod 102, the third connectingrod 103 and the fourth connecting rod 104 form a frame, and preferablythe frame is a rectangular frame such that the size of the body can bereduced and the flexibility thereof is improved. Preferably, the area ofthe cleaning rack 1 is 75% of the area of a photovoltaic panel such thatnot only can the cleaning effect of the photovoltaic panel beguaranteed, but also the weight of the body is not increased to preventthe photovoltaic panel from being damaged due to compression. The firstconnecting rod 101 and the third connecting rod 103 are used as shortsides of the rectangular frame, and the second connecting rod 102 andthe fourth connecting rod 104 are used as long sides of the rectangularframe. The first connecting rod 101, the second connecting rod 102, thethird connecting rod 103 and the fourth connecting rod 104 are all madeof an aluminum material such that the weight of the body can be reduced.Sliding grooves 105 are arranged in four side surfaces of eachconnecting rod of the cleaning rack. By adopting the sliding grooves,the effect of conveniently increasing or reducing other functional partsof the body can be realized. A plurality of hollow through holes 106which run through the entire connecting rod are arranged in eachconnecting rod, and preferably the number of the hollow through holes106 is five such that the weight of the body can be further reduced andthe body is prevented from damaging the photovoltaic panel due tocompression. One end of the second connecting rod 102 is fixedlyconnected with one end of the first connecting rod 101 by using a firstT-shaped connecting plate 107, and the other end is fixedly connectedwith one end of the third connecting rod 103 by using a second T-shapedconnecting plate 108; one end of the fourth connecting rod 104 isfixedly connected with the other end of the third connecting rod 103 byusing a third T-shaped connecting plate 109, and the other end isfixedly connected with the other end of the first connecting rod 101 byusing a fourth T-shaped connecting plate 1010; and by the connectionmode of connecting all the connecting rods by using the T-shapedconnecting plates, all the connecting rods in the cleaning rack 1 aredetachably connected, such that the size of the cleaning rack 1 can beadjusted according to the model of the photovoltaic panel, the body canadapt to photovoltaic panels of different models and the assembling isfacilitated. Since the photovoltaic panel to be cleaned and a mountingground thereof form a certain angle, i.e., the body and the ground alsoform a certain angle when the body moves on the photovoltaic panel, oneend, far away from the ground, of the photovoltaic panel is now calledas an upper edge of the photovoltaic panel, and one end close to theground is called as a lower edge of the photovoltaic panel. When thebody is arranged on the photovoltaic panel, the first connecting rod 101of the cleaning rack 1 is close to the upper edge of the photovoltaicpanel and the third connecting rod 103 of the cleaning rack 1 is closeto the lower edge of the photovoltaic panel.

As illustrated in FIG. 4 which illustrates a structural schematic viewof the cleaning mechanism, the cleaning mechanism 3 comprises a cleaningrack, a cleaning member, a sweeping member and a cleaning member powerunit. The cleaning member is used for stripping off adhesive materialson the photovoltaic panel, the sweeping member is used for sweeping awaythe stripped-off adhesive materials, and the cleaning member power unitis used for providing power to the cleaning member. Connection betweenthe cleaning member and the cleaning rack and connection between thesweeping member and the cleaning rack are detachable connection suchthat the replacement and maintenance are easy to perform. Through thecooperation between the cleaning member and the sweeping member, thecleaning effect of the photovoltaic panel can be effectively improved.

The cleaning member comprises a first rolling brush 301 and a secondrolling brush 302 which are coaxially connected. In a cleaning process,the first rolling brush 301 and the second rolling brush 302simultaneously rotate. The cleaning rack further comprises a fifthconnecting rod 1011, one end of the fifth connecting rod 1011 is fixedlyconnected with the second connecting rod 102 by using a fifth T-shapedconnecting plate 1012 and the other end is fixedly connected with thefourth connecting rod 104 by using a sixth T-shaped connecting plate1013. One end of the first rolling brush 301 is detachably mounted onthe first connecting rod 101 and the other end is detachably mounted onthe fifth connecting rod 1011. One end of the second rolling brush 302is detachably mounted on the third connecting rod 103 and the other endis detachably mounted on the fifth connecting rod 1011. Of course, thecleaning member is not limited to the combination of the two rollingbrushes, i.e. the first rolling brush 301 and the second rolling brush302, the number of the rolling brushes may be adjusted according to theactual need, and for example, when the width of the photovoltaic panelto be cleaned is greater, the number of the rolling brushes may beincreased.

The sweeping member comprises two first strip brushes 303 and two secondstrip brushes 304. The two first strip brushes 303 are both detachablymounted on the second connecting rod 102 and the two second stripbrushes 304 are both detachably mounted on the fourth connecting rod104. The structures of the strip brushes are the same. As illustrated inFIG. 5 which illustrates a structural schematic view of a strip brush,each strip brush comprises a strip brush rack 305 and a plurality ofbristles 306, mounting holes 3051 are arranged in the strip brush rack305, screws penetrate through the mounting holes 3051 to fix the stripbrush rack 305 on the connecting rod, certain ends of the bristles 306are fixed in bristle grooves 3052 in the strip brush rack 305,preferably the bristle grooves 3052 is filled with binder to fix thebristles 306 on the strip brush rack 305, and thereby in the cleaningprocess, the bristles can be effectively prevented from falling off andthe service life of the sweeping member is prolonged. Since the sweepingmember and the cleaning rack are detachably connected, the sweepingmember can be conveniently replaced at any time. Preferably, thebristles 306 are made of nylon. By adopting nylon, the bristles 306 canbe directly molten and solidified in the bristle grooves 3052 such thatbinder does not need to be used and the cost is reduced. Of course, thesweeping member is not limited to the combination of the two first stripbrushes 303 and the two second strip brushes 304, the number of thestrip brushes may be adjusted according to the actual need, and when thewidth of the photovoltaic panel to be cleaned is greater, the number ofthe strip brushes may be increased.

The cleaning member power unit comprises a rolling brush motor 307, therolling brush motor 307 is mounted on the first connecting rod 101, ofcourse may also be mounted on the third connecting rod 103 and isconnected with the central controller 2, and the rolling brush motor 307can be controlled to work by using the central controller 2 to controlthe cleaning member to rotate. The cleaning member power unit furthercomprises a self-locking device (which is similar or same as theself-locking unit of the self-locking mechanism 5), the self-lockingdevice is located between the rolling brush motor 307 and the cleaningmember, and when the rolling brush motor 307 is shut down (or stops),the cleaning member can be enabled to instantaneously stop rotating suchthat the cleaning member is prevented from idling, the unnecessary wearbetween the cleaning member and the photovoltaic panel is reduced andmeanwhile sundries can be prevented from being twisted thereon.

The self-locking device comprises a worm gear and a worm. A power outputshaft of the rolling brush motor 307 is connected with the worm, theworm is connected with the worm gear, and the worm gear and the firstrolling brush 301 of the cleaning member are coaxially connected. Whenthe rolling brush motor 307 is controlled to work by using the centralcontroller, the power output shaft of the rolling brush motor 307 drivesthe worm to rotate, the worm drives the worm gear to rotate, the wormgear drives the first rolling brush 301 to rotate, the second rollingbrush 302 also simultaneously rotates along with the first rolling brush301, the bristles on the first rolling brush 301 and the second rollingbrush 302 are quickly in contact with the panel surface of thephotovoltaic panel to strip off the adhesive materials adhered onto thepanel surface of the photovoltaic panel, the stripped-off adhesivematerials are swept away by the first strip brushes 303 and the secondstrip brushes 304, and the rolling brush motor 307 is controlled to stopor shut off by using the central controller when sweeping is finished.Since the worm can drive the worm gear only and the worm gear cannotdrive the worm, when the rolling brush motor 307 stops or shut off, thefirst rolling brush 301 and the second rolling brush 302 willinstantaneously stop rotating.

Sometimes the adhesive materials on the photovoltaic panel are tightlyadhered to the panel surface, and it is difficult to strip off theadhesive materials from the panel surface of the photovoltaic panel bysolely using the cleaning member. The cleaning mechanism on the body ofthe photovoltaic panel cleaning equipment provided by the embodiment ofthe present invention further comprises a water spray device. The waterspray device can spray water onto the photovoltaic panel to wet theadhesive materials (so as to possibly soften the adhesive materials foreasier removal thereof) and as well as providing an effect of coolingdown the photovoltaic panel.

As illustrated in FIGS. 6 A and 6B which illustrates a structuralschematic view of the water spray device, the water spray devicecomprises a water spray pipe 308 and a water storage tank 309. The waterspray pipe 308 is communicated with the water storage tank 309. Thewater spray pipe 308 is detachably mounted on the sweeping member, and aplurality of spray nozzles 3081 used for atomizing water are arranged inthe water spray pipe 308. The water storage tank 309 is detachablymounted on the cleaning rack 1, a water pressure pump 3091 is mounted inthe water storage tank 309, and the water pressure pump 3091 isconnected with the water spray pipe 308 and can pump water in the waterstorage tank 309 into the water spray pipe 308. The water pressure pump3091 is connected with the central controller 2. The water pressure pump3091 can be controlled to be started up and shut down at any timethrough using the central controller 2 such that the water pressure pump3091 is controlled to spray water for cleaning the photovoltaic panelaccording to the need. Atomized water sprayed out by the spray nozzles3081 can wet the photovoltaic panel in large area (and soften theadhesive materials thereon), and not only can the water be saved, butalso the cleaning effect/performance of the photovoltaic panel can beimproved. Besides, since the atomized water sprayed out by the spraynozzles 3081 can cover the photovoltaic panel in larger area, the waterleft remaining on the photovoltaic panel will be evaporated after theremained behind water is illuminated or irradiated by sunlight, and heaton the photovoltaic panel will be taken away or removed duringevaporation of the remained-behind water, such that the photovoltaicpanel is cooled down and the power generation efficiency of thephotovoltaic panel is thereby improved.

In order to accurately assess or know the situation or condition fordetecting the amount of water in the water storage tank 309, a wateramount detection and alarm device 3010 is further arranged in the waterstorage tank 309, alarm information is given out when the water amountdetection and alarm device 3010 detects that the water storage tank 309is in shortage of water and thereby a user is notified to replenish thewater storage tank 309 with water. The water amount detection and alarmdevice 3010 can be implemented by a conventional water level indicatoralarm available on the market. In order to enable the user toconveniently replenish the water storage tank 309 with water, the waterspray device further comprises a water suction device 3011. Preferably,the water suction device is arranged on the water storage tank 309, andcan be implemented by a conventional water pump. When the water amountdetection and alarm device 3010 gives out alarm information, the usercontrols the body of the photovoltaic panel cleaning equipment by usingthe central controller to rapidly move to a water tank at a watergetting point, and the water suction device 3011 sucks water from theexternal water tank and replenishes the water storage tank 309 with thewater. Thereby, the body of the photovoltaic panel cleaning equipmentcan be enabled to be always under an optimum cleaning condition. Thewater spray device further comprises a path recording unit. The pathrecording unit is respectively connected with the water amount detectionand alarm device and the central controller. When the water amountdetection and alarm device detects that the water storage tank 309 is inshortage of water, the path recording unit can record distance data ofmovement of the body of the photovoltaic panel cleaning equipment from awater shortage point to the water getting point. After water isobtained, the central controller controls the body to move to theposition of the water shortage point according to the distance data andthen controls the cleaning mechanism to continuously perform remainingcleaning work until completion.

As illustrated in FIG. 7 which illustrates a structural schematic viewof the moving mechanism 4, the moving mechanism 4 comprises a cleaningrack, a plane walking unit and a side surface walking unit. The planewalking unit is located below the cleaning rack and the side surfacewalking unit is located on one side of the cleaning rack. When the bodyof the photovoltaic panel cleaning equipment moves on the photovoltaicpanel, the plane walking unit is in contact with the panel surface ofthe photovoltaic panel, the side surface walking unit is in contact withthe side surface of the upper edge of the photovoltaic panel, and aneffect of preventing the body from falling off from the photovoltaicpanel can also be achieved.

The plane walking unit comprises a first driving wheel 401, a firstdriving motor 4001, a second driving wheel 402, a second driving motor4002, a first driven wheel 403 and a second driven wheel 404. The firstdriving wheel 401 is detachably mounted at a junction between the firstconnecting rod 101 and the fourth connecting rod 104, and the seconddriving wheel 402 is detachably mounted at a junction between the thirdconnecting rod 103 and the second connecting rod 102, i.e., the firstdriving wheel 401 and the second driving wheel 402 are diagonallymounted on one diagonal line of the cleaning rack 1. Thereby, when thebody moves forwards or backwards on the photovoltaic panel, the actingpushing force is uniform and the body can be enabled to stably move onthe photovoltaic panel. The first driven wheel 403 is detachably mountedat a junction between the first connecting rod 101 and the secondconnecting rod 102, and the second driven wheel 404 is detachablymounted at a junction between the fourth connecting rod 104 and thethird connecting rod 103, i.e., the two driven wheels are diagonallymounted on the other diagonal line of the cleaning rack 1. Of course,the first driving wheel 401 and the second driving wheel 402 may also bearranged on a single side, and one or both of the first driven wheel 403and the second driven wheel 404 may also be replaced with a drivingwheel/driving wheels. The plane walking unit further comprises a thirddriven wheel 407 and a fourth driven wheel 408, the third driven wheel407 is detachably mounted at a junction between the fifth connecting rod1011 and the second connecting rod 102, and the fourth driven wheel 408is detachably mounted at a junction between the fifth connecting rod1011 and the fourth connecting rod 104. Thereby, the pressure applied bythe body to the photovoltaic panel can be more evenly distributed suchthat the pressure of the body is prevented from being concentrated onthe two sides of the photovoltaic panel and causing damages to thephotovoltaic panel. The first driving wheel 401, the second driven wheel404 and the fourth driven wheel 408 are connected through a first axlerod 410, and first couplings 4100 are arranged at the two ends of thefirst axle rod 410. The second driving wheel 402, the first driven wheel403 and the third driven wheel 407 are connected through a second axlerod 420, and second couplings 4200 are arranged at the two ends of thesecond axle rod 420. By arranging the axle rods, the operation stabilityof the body can be improved. The first driving motor 4001 drives thefirst driving wheel 401 to rotate, the first axle rod 410 is driven torotate, and further the second driven wheel 404 and the fourth drivenwheel 408 are driven to rotate. The second driving motor 4002 drives thesecond driving wheel 402 to rotate, the second axle rod 420 is driven torotate, and further the first driven wheel 403 and the third drivenwheel 407 are driven to rotate.

The side surface walking unit comprises a third driving wheel 405, athird driving motor 4005, a fourth driving wheel 406 and a fourthdriving motor 4006. The third driving wheel 405 and the fourth drivingwheel 406 are both detachably mounted on the first connecting rod 101.The first driving motor 4001, the second driving motor 4002, the thirddriving motor 4005 and the fourth driving motor 4006 are all connectedwith the central controller 2. The working states of the driving motorscan be controlled by using the central controller 2 such that the bodyis controlled to move back and forth on the photovoltaic panel.

As illustrated in FIG. 8 which illustrates a structural schematic viewof the self-locking mechanism mounted on the moving mechanism, theself-locking mechanism comprises a first self-locking unit 501 and asecond self-locking unit 502 which are arranged in the plane walkingunit. The first self-locking unit 501 is arranged between the firstdriving motor 4001 and the first driving wheel 401 and is used forrealizing self-locking of the first driving wheel 401; and the secondself-locking unit 502 is arranged between the second driving motor 4002and the second driving wheel 402 and is used for realizing self-lockingof the second driving wheel 402.

The first self-locking unit 501 comprises a worm gear and a worm, apower output shaft of the first driving motor 4001 is connected with theworm, the worm is connected with the worm gear, the worm gear and thefirst driving wheel 401 are coaxially connected, the first driving motor4001 is controlled to work by using the central controller 2, the poweroutput shaft of the first driving motor 4001 drives the worm to rotate,the worm drives the worm gear to rotate and the worm gear drives thefirst driving wheel 401 to rotate; and when the first driving motor 4001stops working, since the worm can drive the worm gear only and the wormgear cannot drive the worm, the first driving wheel 401 stops rotatingonce the first driving motor 4001 stops working such that theself-locking of the first driving wheel 401 is realized.

The second self-locking unit 502 comprises a worm gear and a worm, apower output shaft of the second driving motor 4002 is connected withthe worm, the worm is connected with the worm gear, the worm gear andthe second driving wheel 402 are coaxially connected, the second drivingmotor 4002 is controlled to work by using the central controller 2, thepower output shaft of the second driving motor 4002 drives the worm torotate, the worm drives the worm gear to rotate and the worm gear drivesthe second driving wheel 402 to rotate; and when the second drivingmotor 4002 stops or shut off, since the worm can drive the worm gearonly and the worm gear cannot drive the worm, the second driving wheel402 stops rotating once the second driving motor 4002 stops or shut off,such that the self-locking of the second driving wheel 402 is realized.The self-locking mechanism further comprises a third self-locking unit503 and a fourth self-locking unit 504 which are arranged in the sidesurface walking unit. The third self-locking unit 503 is arrangedbetween the third driving motor 4005 and the third driving wheel 405 andis used for realizing self-locking of the third driving wheel 405; andthe fourth self-locking unit 504 is arranged between the fourth drivingmotor 4006 and the fourth driving wheel 406 and is used for realizingself-locking of the fourth driving wheel 406.

The third self-locking unit 503 comprises a worm gear and a worm, apower output shaft of the third driving motor 4005 is connected with theworm, the worm is connected with the worm gear, the worm gear and thethird driving wheel 405 are coaxially connected, the third driving motor4005 is controlled to work by using the central controller 2, the poweroutput shaft of the third driving motor 4005 drives the worm to rotate,the worm drives the worm gear to rotate and the worm gear drives thethird driving wheel 405 to rotate; and when the third driving motor 4005stops or power off, since the worm can drive the worm gear only and theworm gear cannot drive the worm, the third driving wheel 405 stopsrotating once the third driving motor 4005 stops or shut off, such thatthe self-locking of the third driving wheel 405 is realized.

The fourth self-locking unit 504 comprises a worm gear and a worm, apower output shaft of the fourth driving motor 4006 is connected withthe worm, the worm is connected with the worm gear, the worm gear andthe fourth driving wheel 406 are coaxially connected, the fourth drivingmotor 4006 is controlled to work by using the central controller 2, thepower output shaft of the fourth driving motor 4006 drives the worm torotate, the worm drives the worm gear to rotate and the worm gear drivesthe fourth driving wheel 406 to rotate; and when the fourth drivingmotor 4006 stops or shut off, since the worm can drive the worm gearonly and the worm gear cannot drive the worm, the fourth driving wheel406 stops rotating once the fourth driving motor 4006 stops or shut off,such that the self-locking of the fourth driving wheel 406 is realized.

The worm gears and worms in the self-locking mechanism 5 can enable thebody of the photovoltaic panel cleaning equipment to move at constantspeed on the photovoltaic panel, such that the cleaning effect orperformance of the photovoltaic panel is guaranteed or improved.Besides, the self-locking mechanism can also enable the body toinstantaneously stop on the photovoltaic panel such that the body isprevented from running out of the photovoltaic panel due to inertia andthe body can be prevented from falling down due to the effect of gravitywhen the body is stopped on the photovoltaic panel with a gradient withrespect to the ground.

The photovoltaic panels can be arranged in sequence or order as aphotovoltaic panel array, and since the photovoltaic panels in thephotovoltaic panel array may be not be arranged properly in flush (ornot aligned in an organized manner) for a reason of being that themounting ground or the body is caused to be inclined and even shake orshaking on the photovoltaic panel array during cleaning operation whenthe power drawn (electric power provided to) the body is not uniform orconsistent, the body cannot stably move and thereby the cleaningeffect/performance of the photovoltaic panels is reduced. Therefore, thebody further comprises a correction mechanism 6. As illustrated in FIG.9 which illustrates a structural schematic view of the correctionmechanism 6 mounted on the cleaning rack 1, the correction mechanism 6comprises a first correction guide wheel 601 and a second correctionguide wheel 602. The first correction guide wheel 601 and the secondcorrection guide wheel 602 are both detachably-mounted on the thirdconnecting rod 103.

As illustrated in FIG. 10 which illustrates a schematic view of anincluded angle between a correction guide wheel and a driving wheel, thefirst correction guide wheel 601 and the third driving wheel 405 form anincluded angle of a, where 0°<a

5°; the second correction guide wheel 602 and the fourth driving wheel406 form an included angle of b, where 0°<b

5°; and preferably, the included angle a is equal to the included angleb. Since the first correction guide wheel 601 and the third drivingwheel 405 form the included angle a and the second correction guidewheel 602 and the fourth driving wheel 406 form the included angle b,when the body is not inclined on the photovoltaic panel, the firstcorrection guide wheel 601 and the second correction guide wheel 602 arenot in contact with the side surface of the lower edge of thephotovoltaic panel, and only when the body is inclined on thephotovoltaic panel and an inclination angle c satisfies 0°<c

5°, the first correction guide wheel 601 and the second correction guidewheel 602 are in contact with the side surface of the lower edge of thephotovoltaic panel, such that the body can stably move on thephotovoltaic panel without shaking.

Sometimes an included angle between the photovoltaic panel to be cleanedand the ground is possibly close to 90°, when the body moves on thephotovoltaic panel at this moment, the body may fall off from thephotovoltaic panel. The body further comprises an anti-falling mechanism7. The anti-falling mechanism 7 is detachably mounted on the cleaningrack 1 and is used for preventing the body from falling off from thephotovoltaic panel.

As illustrated in FIG. 11 which illustrates a structural schematic viewof the anti-falling mechanism mounted on the cleaning rack, theanti-falling mechanism comprises a first hook and a second hook. Ofcourse, the anti-falling mechanism may also adopt just one hook insteadof two hooks. The first hook and the second hook are detachably mountedon the first connecting rod 101. Each of the first hook and the secondhook comprises a fixed part 701 and an anti-falling part 702, the fixedpart 701 is used for being fixed on the cleaning rack 1 by using screwsand the anti-falling part 702 is used for fastening the photovoltaicpanel. Preferably, the fixed part 701 and the anti-falling part 702 areconnected perpendicular to each other, i.e., the first hook and thesecond hook are both in L-shaped structures. When the body normallymoves on the photovoltaic panel, the anti-falling parts 702 of the firsthook and the second hook are not in contact with the photovoltaic panel.Preferably, the first hook and the second hook are respectively anddetachably mounted on the two sides of the rolling brush motor 307.Thereby, when the body is hung on the photovoltaic panel, the pressureor force applied by the body to the upper edge of the photovoltaic panelcan be better distributed to prevent the photovoltaic panel from beingdamaged.

As illustrated in FIG. 12 which illustrates a structural schematic viewof another anti-falling mechanism mounted on the cleaning rack, adifference between the hook in the anti-falling mechanism and the hookillustrated in FIG. 11 lies in that a plurality of through holes 703 arevertically arranged in the respective fixed part of the first hook andthe second hook, screws are inserted into different through holes andare tightened with the cleaning rack, and thereby the adjustment of thedistance between the anti-falling part 702 of the hook and the cleaningrack can be realized such that the anti-falling mechanism can betteradapt to photovoltaic panels with different thickness.

There are a great number of photovoltaic panel arrays in a solarphotovoltaic power plant. In an operation process, some photovoltaicpanels are inevitably damaged. It is time-consuming and labor-consumingto manually observe or detect as to whether a certain/particularphotovoltaic panel is damaged. Therefore, the body of the photovoltaicpanel cleaning equipment in the embodiments of the present applicationcomprises a dynamic temperature measuring mechanism which is arranged onthe cleaning rack and is used for dynamically measuring temperature ofthe photovoltaic panel and measuring the position of the body on thephotovoltaic panel. In an embodiment, the dynamic temperature measuringmechanism can be a commercially available dynamic temperature sensor andrecording device.

As illustrated in FIG. 13 which illustrates a structural schematic viewof the dynamic temperature measuring mechanism mounted on the cleaningrack, the dynamic temperature measuring mechanism 8 comprises atemperature probe 801, a probe moving device and a position measuringdevice 802. The temperature probe 801 is used for acquiring thetemperature of the photovoltaic panel and transmitting temperature datato the central controller 2. Preferably, a wireless transmission mode isadopted for transmission. The probe moving device is used for drivingthe temperature probe 801 to move on the photovoltaic panel. Theposition measuring device 802 is used for acquiring position data of thebody on the photovoltaic panel and transmitting the position data to thecentral controller. Preferably, a wireless transmission mode is adoptedfor transmission.

The probe moving device comprises a first gear 803, a second gear 804, afirst worm 805, a first worm gear 806, a first conveyor wheel 807, asecond conveyor wheel 808 and a conveyor belt 809. The first gear 803 iscoaxially connected with the worm gear in the second self-locking unit502, the second gear 804 is engaged with the first gear 803, the firstworm gear 806 is connected with the second gear 804 by using the firstworm 805, the first conveyor wheel 807 is coaxially connected with thefirst worm gear 806, the second conveyor wheel 808 is connected with thefirst conveyor wheel 807 by using the conveyor belt 809, a probe support8010 is arranged on the conveyor belt 809 and the temperature probe 801is mounted on the probe support 8010. When the second driving motor 4002is driven or powered on, the worm gear in the second self-locking unit502 is driven to rotate, the worm gear in the second self-locking unit502 drives the first gear 803 to rotate, the first gear 803 drives thesecond gear 804 to rotate, the second gear 804 drives the first worm 805to rotate, the first worm 805 drives the first worm gear 806 to rotate,the first worm gear 806 drives the first conveyor wheel 807 to rotate,the first conveyor wheel 807 drives the conveyor belt 809 to rotate andthereby the temperature probe 801 is driven to move. The centralcontroller 2 judges whether there are damaged photovoltaic panels in thephotovoltaic panels through which the body passes according to theacquired temperature data and position data. If there are damagedphotovoltaic panels, the central controller will notify maintenancepersonnel about the position information of the damaged photovoltaicpanels by using a display device or by means of short messages or voicemessages, such that the maintenance personnel maintain the damagedphotovoltaic panels as soon as possible.

The power supply module 9 in the body is mounted on the cleaning rackand is used for supplying power to all the electrical parts of the body.The power supply module 9 is further connected with a charging connectorfor charging the power supply module. As illustrated in FIG. 14 whichillustrates a stereoscopic or perspective view of the chargingconnector, and FIG. 15 which illustrates a side view of the chargingconnector, the charging connector comprises a connector connectingmember 901, a telescopic conductive member, a conductive memberinsulating housing 902 and a conductive member mounting member 903. Theconnector connecting member 901 is fixedly connected with the conductivemember mounting member 903 and is used for being connected with thecleaning rack. As shown in FIG. 14, threaded holes 9031 are arranged inthe two ends of the conductive member mounting member 903, and after theconductive member insulating housing 902 is inserted into the threadedholes 9031, the conductive member insulating housing 902 is fixed on theconductive member mounting member 903 by using hollow insulating nuts904. The telescopic conductive member comprises a spring and aconductive member 905, the spring is arranged in the conductive memberinsulating housing 902 and one end of the conductive member 905 isconnected with the charging module by using the spring or a conductingwire. Due to the effect or property of the spring, the conductive member905 may vertically extend and retract in the conductive memberinsulating housing 902. A waterproof and dustproof cap 906 is furthermounted on the conductive member insulating housing 902 to prevent dustand rainwater from entering the conductive member insulating housing 902and causing the service life of the charging connector to be shortened.The conductive member 905 may be a copper column or a carbon column. Thecopper column is preferred since it is not easily ruptured and theservice life is long.

As illustrated in FIG. 16 which illustrates a structural schematic viewof the charging compartment 11, the charging compartment is used forstopping the body and charging the body. The charging compartment 11comprises a charging and stopping rack 111 and a telescopic supportingrack. The charging and stopping rack 111 is used for stopping the bodyand charging the body; and the telescopic supporting rack is used forsupporting the charging and stopping rack 111 and adjusting the angle ofthe charging and stopping rack 111 to enable the charging and stoppingrack 111 and a photovoltaic panel to be cleaned to be on a same plane.The charging and stopping rack 111 comprises a charging part 1110 and astopping part 1111. A solar photovoltaic panel 1112 used for chargingthe body is mounted on the charging part 1110; and the stopping part1111 is used for stopping the body. A photoelectric converter and anelectric energy storage device are mounted at a back portion of thecharging part 1110, the photoelectric converter is used for convertingsunlight energy into electric energy and the electric energy storagedevice is used for storing the electric energy. A self-charging terminal112 is detachably mounted on the stopping part 1111. The self-chargingterminal 112 is used for being connected with a charging connector.

As illustrated in FIG. 17 which illustrates a structural explodedschematic view of the self-charging terminal 112, the self-chargingterminal 112 comprises a terminal fixing block 1121, a sloped conductivemember 1122 and a sloped conductive member mounting member 1123. A firstmounting groove 11231 is arranged in one end of the sloped conductivemember mounting member 1123 and a second mounting groove 11232 isarranged in the other end. The sloped conductive member mounting member1123 is fixedly mounted on the terminal fixing block 1121, and the twoends of the sloped conductive member 1122 are respectively mounted inthe first mounting groove 11231 and the second mounting groove 11232.The sloped conductive member 1122 is preferably a copper conductivemember. The sloped conductive member 1122 is connected with the electricenergy storage device by using a conducting wire.

The telescopic supporting rack comprises two first telescopic memberswhich are symmetrically arranged, two second telescopic members whichare symmetrically arranged and two third telescopic members which aresymmetrically arranged. The upper ends of the two first telescopicmembers which are symmetrically arranged are rotatably connected withone end of the charging and stopping rack 111; the two third telescopicmembers which are symmetrically arranged are fixedly connected with theother end of the charging and stopping rack 111; and the two secondtelescopic members which are symmetrically arranged are fixedly mountedat the middle portion of the charging and stopping rack 111. Each of thefirst telescopic members, the second telescopic members and the thirdtelescopic members comprises a sleeve 113 and a telescopic rod 114, aplurality of through holes are arranged in the sleeve 113, a pluralityof threaded holes are arranged in the telescopic rod 114, and screwspenetrate through different through holes and threaded holes to realizetelescopic connection between the telescopic rod 114 and the sleeve 113.A difference lies in that the telescopic rods in the first telescopicmembers are rotatably connected with the charging and stopping rack, andthe telescopic rods in the second telescopic members and the thirdtelescopic members are all fixedly connected with the charging andstopping rack. Of course, the telescopic fixed connection between thesleeve and the telescopic rod may also be realized through hydraulicconnection. Of course, it is not only limited to the two types oftelescopic fixed connection. First reinforcing members 115 are furtherarranged between the first telescopic members, the second telescopicmembers and the third telescopic members, two second reinforcing members116 are further arranged between every two first reinforcing members 115and thereby the stability of the charging compartment can be increased.

A plurality of universal wheels 117 are arranged at the lower ends ofthe first telescopic members, the second telescopic members and thethird telescopic members to facilitate the movement of the chargingcompartment and improve the mobility and flexibility of the chargingcompartment.

Before the photovoltaic panel to be cleaned is started to be cleaned,the charging compartment is moved to a position beside the photovoltaicpanel to be cleaned, the telescopic supporting rack of the chargingcompartment is adjusted to enable the charging and stopping rack 111 andthe photovoltaic panel to be cleaned to be on the same plane, the bodystarts cleaning work, the body simultaneously cleans the solarphotovoltaic panel 1112 on the charging and stopping rack 111 in aprocess that the body leaves from the charging and stopping rack 111 andenters the photovoltaic panel to be cleaned, and thereby theself-cleaning function of the charging compartment is realized.

When the body needs to be charged, after the body is stopped on thecharging and stopping rack 111 of the charging compartment, the chargingconnector on the body will be in contact with the self-charging terminal112 and thereby the charging of the body is realized. Specifically, inthe present application, the charging connector comprises two telescopiccharging members, the self-charging terminal 112 comprises two slopedconductive members 1122, the two telescopic charging members and the twosloped conductive members 1122 are in contact and are in slidingfriction on slopes of the sloped conductive members 1122 when the bodyis stopped on the charging and stopping rack 111 of the chargingcompartment, and thereby oxidization layers on the sloped conductivemembers 1122 can be wiped off such that the stable contact between thetwo telescopic charging members and the two sloped conductive members1122 is guaranteed, the self-charging terminal 112 of the chargingcompartment can be prevented from being aged and the service life of theself-charging terminal 112 is prolonged.

Preferred Embodiment 2

As illustrated in FIG. 18 which illustrates a functional diagram ofanother photovoltaic panel cleaning equipment disclosed by the presentinvention, a difference between the photovoltaic panel cleaningequipment disclosed by this embodiment and the photovoltaic panelcleaning equipment disclosed in embodiment 1 lies in that thephotovoltaic panel cleaning equipment disclosed by this embodimentfurther comprises an obstacle crossing mechanism 13 and a telescopicmechanism 14 arranged on the cleaning rack 1. The obstacle crossingmechanism 13 is used for enabling the body to smoothly pass through aspace between two photovoltaic panel arrays. The telescopic mechanism 14is connected with the central controller 2, is used for enabling thebody to move on the obstacle crossing mechanism 13 and cooperates withthe obstacle crossing mechanism 13 to enable the body to smoothly passthrough a space between two dislocated photovoltaic panel arrays.Sometimes, since photovoltaic panel arrays not only have a certaindistance therebetween but also are possibly dislocated in height,through the cooperation between the obstacle crossing mechanism 13 andthe telescopic mechanism 14 in the present application, the body can beenabled to smoothly move from one photovoltaic panel array to anotherphotovoltaic panel array.

As illustrated in FIG. 19 which illustrates a structural schematic viewof the telescopic mechanism 14 mounted on the cleaning rack, thetelescopic mechanism comprises a first telescopic unit and a secondtelescopic unit, each of the first telescopic unit and the secondtelescopic unit comprises a telescopic part 141, a housing part 142 anda power part 143, and the telescopic part 141 is located in the housingpart 142 and can make telescopic motion under the drive of the powerpart 143. A first fixed rod 1014 is arranged on the first connecting rod101 of the cleaning rack 1, a second fixed rod 1015 and a third fixedrod 1016 are arranged between the second connecting rod 102 and thefourth connecting rod 104 of the cleaning rack 1, and a fourth fixed rod1017 is arranged on the third connecting rod 103 of the cleaning rack 1.The first telescopic unit is detachably mounted between the first fixedrod 1014 and the second fixed rod 1015. The second telescopic unit isdetachably mounted between the third fixed rod 1016 and the fourth fixedrod 1017. In the present application, the first telescopic unit is afirst linear motor and the second telescopic unit is a second linearmotor. The first linear motor and the second linear motor are bothconnected with the central controller 2, and the central controller 2controls the first linear motor and the second linear motor to work.

As illustrated in FIG. 20 which illustrates a structural schematic viewof the obstacle crossing mechanism, the obstacle crossing mechanism 13is used for temporarily stopping the body and cooperating with thetelescopic mechanism 14 to realize the movement of the body from aphotovoltaic panel at a low position to a photovoltaic panel at a highposition, or from a photovoltaic panel at a high position to aphotovoltaic panel at a low position.

The obstacle crossing mechanism 13 comprises a moving rack and a fixedrack. The moving rack is used for temporarily stopping the body; and thefixed rack is used for storing the moving rack and cooperating with thetelescopic mechanism to realize ascending or descending of the movingrack. The moving rack comprises a first connecting member 1301, a secondconnecting member 1302, a third connecting member 1303 and a fourthconnecting member 1304. The first connecting member 1301, the secondconnecting member 1302, the third connecting member 1303 and the fourthconnecting member 1304 are connected end to end to form a rectangularframe, and a moving wheel 1305 is arranged on each of the secondconnecting member 1302 and the fourth connecting member 1304. A limitingmember 1306 is arranged on each of the second connecting member 1302 andthe fourth connecting member 1304. A sensor support 1307 is arranged onthe third connecting member 1303 and is used for storing a sensor (notshown), the sensor is connected with the central controller 2 and thesensor is used for detecting whether the body is stopped on the movingrack. The fixed rack comprises a bearing rack and a bearing supportingrack. The bearing rack comprises a first bearing connecting rod 1308, asecond bearing connecting rod 1309, a third bearing connecting rod 1310and a fourth bearing connecting rod 1311. The first bearing connectingrod 1308, the second bearing connecting rod 1309, the third bearingconnecting rod 1310 and the fourth bearing connecting rod 1311 areconnected end to end to form a rectangular frame. A locking device isfurther arranged on the bearing rack, and the locking device is fixedlyarranged between the second bearing connecting rod 1309 and the fourthbearing connecting rod 1311. The locking device cooperates with thelimiting member 1306 to lock the moving rack on the fixed rack. A baffle1312 is fixedly arranged on the third bearing connecting rod 1310.

As illustrated in FIG. 21 which illustrates a partially enlarged view ofthe obstacle crossing mechanism 13, the locking device disposed orconfigured on the obstacle crossing mechanism 13 comprises a bottomplate 1313, a first stand column 1314, a second stand column 1315, athird stand column 1316, a fourth stand column 1317, a locking hook1318, a rotary force applying member 1319, a restoring member and apulling rope 1320. One end of the bottom plate 1313 is fixed on thesecond bearing connecting rod 1309 and the other end is fixed on thefourth bearing connecting rod 1311. A fixed column 1321 is arranged oneach of two sides of the bottom plate 1313. The locking hook 1318 isrotatably connected with the fixed column 1321 and is used for lockingthe limiting member 1306. The rotary force applying member 1319 isconnected with one end of the locking hook 1318 and can outwards pullaway the locking hook 1318 under an effect of external force to unlockthe limiting member 1306. The restoring member is arranged at a junctionbetween the rotary force applying member 1319 and the locking hook 1318,and when the external force acting on the rotary force applying member1319 disappears, the restoring member enables the locking hook 1318 tobe inwards restored. The restoring mechanism is a torsion spring. Thefirst stand column 1314 and the fourth stand column 1317 arerespectively fixed at the two ends of the bottom plate 1313, twovertical pulleys 1322 are arranged on each of the stand columns, the twovertical pulleys 1322 are respectively located at a higher position anda lower position on the stand column, the two vertical pulleys 1322 aredetachably mounted on the stand column by using a first fixed block 1323and the two vertical pulleys 1322 are both mounted at one end of thefirst fixed block 1323. The second stand column 1315 and the third standcolumn 1316 are arranged between the first stand column 1314 and thefourth stand column 1317, a horizontal pulley 1324 is arranged on eachof the second stand column 1315 and the third stand column 1316, and thehorizontal pulley 1324 is detachably mounted on each stand column byusing a second fixed block 1325, wherein the horizontal pulley 1324 ofthe second stand column 1325 is arranged above one end of the secondfixed block 1325 and the horizontal pulley 1324 of the third standcolumn 1316 is arranged below one end of the second fixed block 1325.One end of the pulling rope 1320 is fixedly connected with one rotaryforce applying member 1319, and the other end is wound around thevertical pulleys 1322 and the horizontal pulleys 1324 and then isfixedly connected with the other rotary force applying member. Thestructure of the locking device is simple and the stability is reliable.By arranging the vertical pulleys and the horizontal pulleys, thepulling rope is not to easily depart from the pulleys and the continuousapplication of force to the rotary force applying members 1319 isguaranteed.

The bearing supporting rack is used for supporting the bearing rack andis rotatably connected with the bearing rack. Supporting legs of thebearing supporting rack are adjustable in height. A resisting rack 1327is further arranged on the bearing supporting rack and is used forresisting against the baffle 1312 and preventing the baffle 1312 frombeing inclined when the telescopic part of the second telescopic unitpresses against the baffle 1312.

When the body moves from a photovoltaic panel at a low position to aphotovoltaic panel at a high position, the body firstly moves from thephotovoltaic panel at the low position to the moving rack, the sensor onthe moving rack senses that the body moves onto the moving rack andsends a signal to the central controller, the central controllercontrols the body to be immobilized on the moving rack, then the centralcontroller controls the second telescopic unit to enable the telescopicpart 141 of the second telescopic unit to continuously stretch out, thetelescopic part 141 presses against the baffle 1312 to enable the movingrack to slowly move up along the bearing rack until the limiting member1306 on the moving rack presses the locking hook 1318 to open, thelocking hook 1318 clamps the limiting member 1306 when the locking hook1318 is restored under the effect of the restoring member, at thismoment the central controller 2 controls the telescopic part 141 of thesecond telescopic unit to retract, the moving rack cannot slide downsince the locking hook 1318 has already clamped the limiting member1306, then the central controller 2 controls the body to move from themoving rack to the photovoltaic panel at the high position, and therebythe obstacle crossing function that the body moves from the photovoltaicpanel at the low position to the photovoltaic panel at the high positionis realized.

When the body moves from a photovoltaic panel at a high position to aphotovoltaic panel at a low position, the body firstly moves from thephotovoltaic panel at the high position to the moving rack, the sensoron the moving rack senses that the body moves onto the moving rack andsends a signal to the central controller, the central controllercontrols the body to be immobilized on the moving rack, then the centralcontroller firstly controls the second telescopic unit to enable thetelescopic part 141 of the second telescopic unit to continuouslystretch out, the telescopic part 141 presses against the baffle 1312,then the first telescopic unit is controlled to enable the telescopicpart of the first telescopic unit to continuously stretch out, thepulling rope 1320 is clamped in the groove in the telescopic part, thepulling rope 1320 applies force to the rotary force applying member 1319through the vertical pulleys 1322 and the horizontal pulleys 1324, therotary force applying member 1319 then outwards pulls the locking hook1318 to open to enable the locking hook 1318 to be separated from thelimiting member 1306, then the telescopic part of the second telescopicunit is enabled to slowly retract, the moving rack slows moves downalong the bearing rack under the effect of gravity until the moving rackis stopped by a limiting stop block 1326 on the bearing rack, thereafterthe central controller controls the body to move from the moving rack tothe photovoltaic panel at the low position, and thereby the obstaclecrossing function that the body moves from the photovoltaic panel at thehigh position to the photovoltaic panel at the low position is realized.

Many of the structural schematic views shown in figures, which includeFIGS. 2, 3, 4, 5, 6B, 7, 8, 9, 11, 14, 16, 17, 19, 20, 21, are expresslyshown in (3D) perspective views for the sake of clarity. Although thepresent invention is described in detail with reference to theabove-mentioned embodiments, one skilled in the art may still makeamendment to the technical solution recorded in each embodiment or makeequivalent replacement to partial technical features therein. However,any amendment, equivalent replacement, improvement and the like madewithin the spirit and rule of the present invention shall be stillincluded in the protection scope of the present invention.

What is claimed is:
 1. A photovoltaic panel cleaning equipment,comprising: a body, the body comprises an anti-falling mechanism; and acleaning rack comprising a first connecting rod, a second connectingrod, a third connecting rod and a fourth connecting rod which aredetachably connected, wherein the anti-falling mechanism comprising afirst hook and a second hook, and each of the first hook comprises afixed part and an anti-falling part, and each of the second hookcomprises a fixed part and an anti-falling part; wherein theanti-falling mechanism is mounted on the cleaning rack; the fixed partof the first hook is fixedly-connected with the anti-falling part of thefirst hook, the fixed part of the second hook is fixedly-connected withthe anti-falling part of the second hook, and each of the fixed parts ofthe first hook and each of the fixed parts of the second hook isdetachably mounted on the first connecting rod of the cleaning rack ofthe photovoltaic panel cleaning equipment, respectively; wherein thephotovoltaic panel cleaning equipment is configured for use on one ormore photovoltaic panel arrays, and further comprises an obstaclecrossing mechanism, wherein the body further comprises a telescopicmechanism, the telescopic mechanism cooperates with the obstaclecrossing mechanism to realize movement of the body from one photovoltaicpanel array to another photovoltaic panel array; and the obstaclecrossing mechanism comprises a moving rack and a fixed rack, a lockingdevice is arranged on the fixed rack, a limiting member is arranged onthe moving rack and the locking device cooperates with the limitingmember to lock the moving rack on the fixed rack; the locking devicecomprises a bottom plate, a locking hook, a rotary force applyingmember, a restoring member, a first stand column, a second stand column,a third stand column, a fourth stand column and a pulling rope; thebottom plate is fixed on the fixed rack; a fixed column is arranged onthe bottom plate and the locking hook is rotatably connected with thefixed column; the rotary force applying member is connected with one endof the locking hook and the rotary force applying member can outwardspull away the locking hook under an effect of external force to unlockthe limiting member; the restoring member is arranged at a junctionbetween the rotary force applying member and the locking hook, and whenthe external force acting on the rotary force applying memberdisappears, the restoring member enables the locking hook to berestored; the first stand column and the fourth stand column are locatedat two ends of the bottom plate, and the second stand column and thethird stand column are located between the first stand column and thefourth stand column; two vertical pulleys which are respectively at ahigh position and a low position are arranged on each of the first standcolumn and the fourth stand column; a horizontal pulley is arranged oneach of the second stand column and the third stand column; and thepulling rope is wound on the vertical pulleys and the horizontal pulleysand then is connected with the rotary force applying member.
 2. Thephotovoltaic panel cleaning equipment according to claim 1, wherein thefixed part of the first hook is fixedly and vertically connected withthe anti-falling part of the first hook, and the first hook is anL-shaped hook; and the fixed part of the second hook is fixedly andvertically connected with the anti-falling part of the second hook, andthe second hook is an L-shaped hook.
 3. The photovoltaic panel cleaningequipment according to claim 2, wherein a plurality of mounting throughholes are arranged in the fixed part of the first hook; and a pluralityof mounting through holes are arranged in the fixed part of the secondhook.
 4. The photovoltaic panel cleaning equipment according to claim 1,wherein one sliding groove is arranged in each of the four side surfacesof each connecting rod of the first connecting rod, the secondconnecting rod, the third connecting rod and the fourth connecting rodof the cleaning rack of the photovoltaic panel cleaning equipment. 5.The photovoltaic panel cleaning equipment according to claim 1, whereina plurality of hollow through holes are arranged in each connecting rodof the first connecting rod, the second connecting rod, the thirdconnecting rod and the fourth connecting rod of the cleaning rack of thephotovoltaic panel cleaning equipment.
 6. The photovoltaic panelcleaning equipment according to claim 5, wherein the number of thehollow through holes is five.